Personal Positioning System

The personal localization system was the result of adapting algorithms created for slippage correction for robots. The following picture sequence shows a few versions of this system.

A video of this system tracking the foot of a person moving along the hallways and stairs inside the CSE building at the University of Michigan can be found here:

Selected Articles

  • Borenstein, J., Ojeda, L., Kwanmuang, S. “Heuristic Reduction of Gyro Drift, for Personnel Tracking Systems”. Journal of Navigation. 01/2009; 62(1): 41-58
  • Borenstein, J., Ojeda, L. “Non-GPS Navigation for Security Personnel and Emergency Responders”. Journal of Navigation. 01/2007; 60(3): 391-407
  • Ojeda, L., Borenstein, J., “Non-GPS Navigation for Emergency Responders”, International Joint Topical Meeting: Sharing Solutions for Emergencies and Hazardous Environments, Salt Lake City, UT, 02/2006
  • Ojeda, L., Borenstein, J., “Odometry for Dismounted Soldiers”, Intelligent Vehicle Systems Symposium & Exhibition, Traverse City, MI, 06/2005
  • Ojeda, L., Borenstein, J., “Accelerometer-compensated Odometry”, Invention UM2594, 04/2003

System Development Progression